In a mobile system for pipe rehabilitation, a tractor moves a motorized electrical cutter inside a pipe. The cutter is used to remove a blockage from a branch conduit connected to the main pipe. A power management system powers the mobile system, including the cutter, from a direct current power source with an input current having a voltage less than 60V. The power management system powers the electrical cutter by discharging current from the supercapacitor module to the cutter. power to other components is provided without discharge from the supercapacitor module and is not interrupted by supercapacitor discharge to the cutter. The power management system can include a housing for the supercapacitor module with a first connector at one end for connecting to an umbilical cord and a second connector an opposite end for connecting to the tractor.
|
20. A mobile system for pipe rehabilitation, the mobile system comprising:
a tractor configured for moving along a main pipe;
a cutter supported by the tractor for movement with the tractor along the main pipe, the cutter comprising a cutting shaft and a cutting implement mounted on the shaft configured for cutting, and an electric motor configured to drive rotation of the cutting shaft about a rotational axis such that the cutting implement when mounted on the cutting shaft can remove material from within the main pipe; and
a power management system in electrical communication with at least the cutter, the power management system configured to connect to a direct current power source that provides an input current having a voltage of less than 60V and to power the electric motor from said input current.
18. A power management system for providing electrical power to a mobile system configured for pipe rehabilitation, wherein the mobile system comprises a tractor and a cutter, the power management system comprising:
a housing;
a first electrical coupling on the housing configured to electrically connect the power management system to an umbilical cord carrying an input current;
a second electrical coupling on the housing configured to couple to the mobile system for providing a drive current to at least the cutter of the mobile system; and
a supercapacitor module received in the housing, the supercapacitor module including at least one supercapacitor, the power management system being configured to charge the supercapacitor module with the input current and selectively power the cutter by discharging current from the supercapacitor module to the cutter.
1. A mobile system for pipe rehabilitation, the mobile system comprising:
a tractor configured for moving along a main pipe;
a cutter supported by the tractor for movement with the tractor along the main pipe, the cutter comprising a cutting shaft and a cutting implement mounted on the shaft for cutting, and an electric motor configured to drive rotation of the cutting shaft about a rotational axis such that the cutting shaft can rotate the cutting implement to remove material from within the main pipe; and
a power management system in electrical communication with at least the cutter, the power management system comprising a supercapacitor module including at least one supercapacitor, the power management system being configured to selectively power the electric motor to drive rotation of the cutting shaft about a rotational axis by discharging current from the supercapacitor module to the cutter.
2. The mobile system as set forth in
3. The mobile system as set forth in
4. The mobile system as set forth in
5. The mobile system as set forth in
6. The mobile system as set forth in
7. The mobile system as set forth in
8. The mobile system as set forth in
9. The mobile system as set forth in
10. The mobile system as set forth in
11. The mobile system as set forth in
12. The mobile system as set forth in
13. The mobile system as set forth in
14. The mobile system as set forth in
15. The mobile system as set forth in
16. The mobile system as set forth in
17. The mobile system as set forth in
19. The power management system as set forth in
|
This application claims priority to U.S. Provisional Patent Application Ser. No. 63/148,230, filed Feb. 11, 2021, and entitled Mobile System for Pipe Rehabilitation, which is hereby incorporated by reference in its entirety for all purposes.
This disclosure generally relates to a mobile system for pipe rehabilitation that includes an electric cutter and a power management system for powering the electric cutter and other components of the mobile system for pipe rehabilitation.
Referring to
Referring to
A conventional sequence of steps for rehabilitating a water main M under pressure is illustrated schematically in
This disclosure pertains to improvements in the devices, systems, and methods used to form holes in a liner L for restoring fluid communication between a main pipe M and its branch conduits C. An exemplary application for the devices, systems, and methods described herein is restoring fluid communication between a sewer main M and its lateral conduits C as shown in
In one aspect, a mobile system for pipe rehabilitation comprises a tractor configured for moving along a main pipe. A cutter is supported by the tractor for movement with the tractor along the main pipe. The cutter comprises a cutting shaft configured to mount a cutting bit and an electrical motor configured to drive rotation of the cutting shaft about a rotational axis such that the cutting shaft can rotate the cutting bit to remove a blockage from a branch conduit connected to the main pipe. A power management system is in electrical communication with at least the cutter. The power management system comprises a supercapacitor module including at least one supercapacitor. The power management system is configured to selectively power the electrical motor to drive rotation of the cutting shaft about a rotational axis by discharging current from the supercapacitor module to the cutter.
In another aspect, a power management system provides electrical power to a mobile system configured for pipe rehabilitation. The mobile system comprises a tractor and a cutter. The power management system comprises a housing. a first electrical coupling on the housing is configured to electrically connect the power management system to an umbilical cord carrying an input current. A second electrical coupling on the housing is configured to couple to the mobile system for providing a drive current to at least the cutter of the mobile system. A supercapacitor module is received in the housing. The supercapacitor module includes at least one supercapacitor. The power management system is configured to charge the supercapacitor module with the input current and selectively power the cutter by discharging current from the supercapacitor module to the cutter.
In another aspect, a mobile system for pipe rehabilitation comprises a tractor configured for moving along a main pipe. A cutter is supported by the tractor for movement with the tractor along the main pipe. The cutter comprises a cutting shaft configured to mount a cutting bit and an electrical motor configured to drive rotation of the cutting shaft about a rotational axis such that the cutting bit when mounted on the cutting shaft can remove a blockage from a branch conduit connected to the main pipe. A power management system is in electrical communication with at least the cutter. The power management system is configured to connect to a direct current power source that provides an input current having a voltage of less than 60V and to power the electrical motor from said input current.
Other aspects and features will be apparent hereinafter.
U.S. Patent Application Publication No. 2020/0173599, which is hereby incorporated by reference in its entirety, describes an exemplary system and method for rehabilitating host pipes that are connected to branch conduits, e.g., corporation stops. In particular, U.S. Patent Application Publication No. 2020/0173599 discloses an exemplary cutting tool 1060 which may be used to restore fluid communication between a main pipe and branch conduit after the main pipe has been lined with a CIPP liner. Cutting tools of the type disclosed in U.S. Patent Application Publication No. 2020/0173599 are known to either run on an electrical motor or a pneumatic drive.
In conventional systems for rehabilitating pipes of the type disclosed in U.S. Patent Application Publication No. 2020/0173599, electrical power and/or compressed air is delivered directly to components of the robotic system inside the pipe via an umbilical cord that caries power from a source (e.g., a gas-powered generator, an air compressor) located outside the pipe. The inventors have recognized a need to improve the way that power is delivered over an umbilical cord to robotic systems inside a pipe. More particularly, the inventors have recognized that cutting tools of the type disclosed in U.S. Patent Application Publication No. 2020/0173599 require substantial power to remove portions of the liner L (and, in some cases, the plugs P) for restoring fluid communication between a main pipe M and its branch conduits C. Conventional electrical cutting tools require a dedicated high voltage (e.g., 230 V) electrical line along the umbilical cord to provide enough electrical power to prevent the tool from stalling during use. In the typical configuration, a very heavy Siamese cable is used with a dedicated electrical line for the cutting tool. This high voltage along the umbilical cord creates an electrical shock hazard at the worksite, and furthermore, the heavy Siamese cable can be difficult for the robot system to maneuver through the main pipe M. Similarly, when compressed air is used to power a cutting tool, the robotic system requires a large, heavy umbilical cord that can be difficult to maneuver through the main pipe. Furthermore, the inventors believe that pneumatic cutting tools are less efficient than electrical cutting tools.
Referring to
The mobile system 113 generally comprises a tractor 119 configured for moving along a main pipe, an electric cutter 121 (broadly, cutting tool) supported by the tractor for movement with the tractor along the main pipe, and a power management system 123 in electrical communication with at least the cutter. It will be appreciated that the electric cutter 121 may be interchangeable with other robotic tools as disclosed in U.S. Patent Application Publication No. 2020/0173599. An exemplary embodiment of the tractor 119 (including associated drive mechanisms, tool positioning mechanisms, and pipe visualization systems) is described in further detail in U.S. Patent Application Publication No. 2020/0173599. The cutter 121 generally comprises a cutting shaft (not shown) configured to mount a cutting bit 127, and an electrical motor 125 configured to drive rotation of the cutting shaft about a rotational axis such that the cutting shaft can rotate the cutting bit to remove a blockage from a branch conduit C connected to the main pipe M. In particular, the cutter 121 may be used in substantially the same manner as the cutting tool 24 of U.S. Patent Application Publication No. 2020/0173599 to remove portions of a liner L (and in some cases portions of a plug P) from a junction between a branch conduit C and a main pipe M to restore fluid communication between the branch conduit and the main pipe after the main pipe is lined with the liner.
In general, the power management system 123 is configured to store electrical power delivered from the power source 115 to the mobile system 113 over the umbilical cord 117 in an electrical storage device 129 and selectively discharge the stored power to the cutter 121 when used to remove a blockage from a branch conduit. In one or more embodiments, the power management system is configured to communicate with the power source 115 and the mobile system 113 over a CAN communication bus. Hence, the power management system 123 suitably comprises a CAN bus isolator. In an exemplary embodiment, the power management system 123 is configured to communicate with the power source 115 via a first CAN bus and is configured to communicate with the mobile system 113 via a second CAN bus.
The power management system is configured to connect to a direct current power source 116 that provides an input current having a voltage of less than 60V and to power the electrical motor 125 using this input current. In an exemplary embodiment, the input current has a voltage of less than 60V (e.g., about 54V). As those skilled in the art will appreciate, this minimizes the perceived safety risk of the electrical current passing along the umbilical cord. In addition to powering the cutter 121 via power from the power source 116, the illustrated power management system 123 is also configured to power other electrical components supported on the tractor 119, including a tractor drive system, a tool positioning system, and an imaging system associated with the tractor. More particularly, the power management system 123 is configured to power the other electrical components separately from any discharge of current from the power storage device 129. Further, the power management system 123 is configured to power the electrical components without interruption, while discharging current from the power storage device 129 to power the cutter 125. In the illustrated embodiment, the umbilical cord 117 comprises a single power line that supplies power to both the cutter 121 and the other electrical components of the tractor 119.
The power management system 123 comprises a housing 130 configured to be supported on the tractor 119 for movement with the tractor along the main pipe M. In the illustrated embodiment, the power management system 123 is connected in series between the umbilical cord 117 and the tractor 119. Further, the mobile system 113 is adapted so that the tractor 119 can be used without the power management system 123 when the cutter 121 is not in use. The tractor 113 has a front end portion and a rear end portion spaced apart along a longitudinal axis LA. Referring to
The illustrated power management system housing 130 is generally cylindrical. The housing 130 has a maximum cross sectional dimension MDP (e.g., an outer diameter) in a plane perpendicular to the longitudinal axis LA. As shown in
Referring to
The power management system 123 further comprises a single DC-to-DC converter 145 connected between the umbilical cord 117 and the supercapacitors 129. In the illustrated embodiment, the converter 145 comprises a buck-boost converter configured to selectively step-down or step-up the voltage of the input current. When the power management system 123 is called upon to deliver power to electrical components other than the cutter 121, the converter 145 operates in a buck mode (e.g., a step-down mode) to step down the voltage of the input current. For example, in the embodiment shown in
The cutter 121 comprises a cutter driver 143 (brushless direct current driver or “BLDC Driver”) that is configured to control the delivery of power from the power management system 123 to the cutter motor 125. In one or more embodiments the cutter driver 143 and the converter 145 are integrated into the same printed circuit board. Suitably, the CAN bus isolator and CAN bus transceivers for the first and second CAN busses used to communicate with the power source 115 and the mobile system 113 can likewise be integrated into the same printed circuit board with the cutter driver 143 and the converter 145. It will be understood, however, that separate printed circuit boards can also be used for the components without departing from the scope of the disclosure. The cutter driver 143 is connected to the supercapacitor module 129 such that the supercapacitor module discharges current to the cutter driver 143. In an exemplary embodiment, a bleeder resistor (not shown) is connected in parallel with the output of the supercapacitor module 129 to the cutter driver to quickly discharge the supercapacitor module system after power off. In the illustrated embodiment, when the cutter driver 143 calls for power to the cutter 121, the supercapacitor module 129 discharges current to the cutter driver 143 in an amount sufficient to drive the cutter motor 125 for removing a blockage without stalling. Whenever current is being discharged from the supercapacitor module 129, there is a substantial drop in the voltage of the input current. The converter 145 is configured address this drop in voltage by operating in a buck boost mode to step up the voltage of the input current. This allows other electrical components to be run without interruption, even when the cutter motor 125 is drawing the substantial current required to remove a blockage from a branch conduit C. For example, a camera (not shown) positioned for viewing within the pipe would not have its video transmission interrupted during cutting.
As can be seen, the above-described power management system enables a pipe rehabilitation system to run an efficient electrical cutting tool without requiring a hazardous high voltage line or heavy Siamese cable.
When introducing elements of the present disclosure or the preferred embodiment(s) thereof, the articles “a”, “an”, “the” and “said” are intended to mean that there are one or more of the elements. The terms “comprising”, “including” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.
In view of the above, it will be seen that the several objects of the disclosure are achieved and other advantageous results attained.
As various changes could be made in the above products and methods without departing from the scope of the disclosure, it is intended that all matter contained in the above description shall be interpreted as illustrative and not in a limiting sense.
O'Brien, James, DeKyspotter, Arnaud, Botrel, Dominique, Gordon, Guy
Patent | Priority | Assignee | Title |
Patent | Priority | Assignee | Title |
11391407, | Nov 30 2018 | INA Acquisition Corp | Methods, systems, and apparatus for use in main pipes connected to branch conduit |
4197908, | Apr 06 1978 | INSITUFORM OF NORTH AMERICA, INC , A CORP OF DELAWARE | Apparatus for porting a side wall of a conduit from interiorly thereof |
4986314, | Aug 01 1986 | KA-TE SYSTEMS LTD | Apparatus for carrying out repair works on a damaged pipeline which a person cannot get through |
5088553, | Jan 25 1990 | HEITKAMP, INC | Lateral cutter device |
5105882, | Jan 25 1990 | HEITKAMP, INC | Lateral cutter device |
5368423, | Feb 03 1994 | Inliner U.S.A., Inc. | Robotic cutter |
5520569, | Feb 22 1993 | GET Inc.; Shonan Gosei-jushi Seisakusyo K.K. | Cutter and a rotary cutter apparatus |
6056017, | Jan 27 1998 | SHONAN GOSEI-JUSHI SEISAKUSHO K.K.; Yokoshima & Company; GET Inc.; OAR Company | Pipe lining method |
6651699, | Dec 12 2001 | Liner for branch pipe of old repaired pipe and lining system and method for such liner | |
7131791, | Nov 13 2002 | REDZONE ROBOTICS, INC | Pipeline rehabilitation systems |
7720570, | Oct 01 2004 | REDZONE ROBOTICS, INC | Network architecture for remote robot with interchangeable tools |
8015695, | Apr 27 2006 | INA Acquisition Corp | Reinstatement of an existing connection in a lined conduit |
8060257, | Oct 01 2004 | RedZone Robotics, Inc. | Network architecture for remote robot with interchangeable tools |
8402911, | Jul 19 2012 | Quest Inspar, LLC | Multi-segmented apparatus for lining pipe with multiple convoluted bends and varied orientations with a structural membrane |
9016322, | Sep 06 2010 | I S T INNOVATIVE SEWER TECHNOLOGIES GMBH | Device for renovating a pipe |
9255806, | May 04 2012 | Spering Micro-Systems | Method for visualizing a position of a vehicle navigating a pipe |
9383055, | Nov 15 2012 | HIBOT CORP | In-pipe traveling apparatus and traveling module |
9446455, | May 29 2014 | SANEXEN ENVIRONMENTAL SERVICES INC | Drilling apparatus |
9494270, | Feb 01 2008 | WPW, LLC | Systems and methods for locating and restoring service lines in pipeline rehabilitation |
9512952, | Nov 07 2012 | PARMER, GEOFFREY E | Lateral reinstatement cutter and single access point method of use |
20050103538, | |||
20110155273, | |||
20170307127, | |||
EP2245355, | |||
EP2614287, | |||
KR101313240, | |||
WO2007055586, | |||
WO2016062660, | |||
WO2017168318, |
Executed on | Assignor | Assignee | Conveyance | Frame | Reel | Doc |
Feb 10 2022 | INA Acquisition Corp. | (assignment on the face of the patent) | / | |||
Sep 20 2022 | O BRIEN, JAMES | INA Acquisition Corp | NUNC PRO TUNC ASSIGNMENT SEE DOCUMENT FOR DETAILS | 063427 | /0123 | |
Sep 20 2022 | GORDON, GUY | INA Acquisition Corp | NUNC PRO TUNC ASSIGNMENT SEE DOCUMENT FOR DETAILS | 063427 | /0123 | |
Sep 21 2022 | BOTREL, DOMINIQUE | DOMINSITU ENGINEERING | NUNC PRO TUNC ASSIGNMENT SEE DOCUMENT FOR DETAILS | 063432 | /0683 | |
Sep 21 2022 | DOMINSITU ENGINEERING | INA Acquisition Corp | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 063444 | /0160 | |
Mar 28 2023 | DEKYTSPOTTER, ARNAUD | DK INNOVATION LTD | NUNC PRO TUNC ASSIGNMENT SEE DOCUMENT FOR DETAILS | 063432 | /0121 | |
Mar 28 2023 | DK INNOVATION LTD | INA Acquisition Corp | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 063432 | /0253 |
Date | Maintenance Fee Events |
Feb 10 2022 | BIG: Entity status set to Undiscounted (note the period is included in the code). |
Date | Maintenance Schedule |
Oct 22 2027 | 4 years fee payment window open |
Apr 22 2028 | 6 months grace period start (w surcharge) |
Oct 22 2028 | patent expiry (for year 4) |
Oct 22 2030 | 2 years to revive unintentionally abandoned end. (for year 4) |
Oct 22 2031 | 8 years fee payment window open |
Apr 22 2032 | 6 months grace period start (w surcharge) |
Oct 22 2032 | patent expiry (for year 8) |
Oct 22 2034 | 2 years to revive unintentionally abandoned end. (for year 8) |
Oct 22 2035 | 12 years fee payment window open |
Apr 22 2036 | 6 months grace period start (w surcharge) |
Oct 22 2036 | patent expiry (for year 12) |
Oct 22 2038 | 2 years to revive unintentionally abandoned end. (for year 12) |